/*
 * FlightController_PID.h
 *
 *  Created on: Jan 21, 2014
 *      Author: ppks
 */

#ifndef FLIGHTCONTROLLER_PID_H_
#define FLIGHTCONTROLLER_PID_H_


/********************************************************************************/
/* Exported Variables Declaration                                               */
/********************************************************************************/
extern const char PIDnames[];
extern int16_t lastGyro[];
extern int16_t errorAngleI[];

extern int32_t errorGyroI_YAW;
extern int16_t delta1[];
extern int16_t delta2[];
extern int16_t errorGyroI[];
extern int32_t prop;

/********************************************************************************/
/* Exported Functions Prototypes                                                */
/********************************************************************************/
extern void FlihgtController_CalculatePID(void);

#endif /* FLIGHTCONTROLLER_PID_H_ */
